The MTi-1 series module is a tested stand-alone module that can be offered as an Inertial Measurement Unit (IMU), Vertical Reference Unit (VRU) / Active Heading Tracker (AHT), Attitude and Heading Reference System (AHRS), and GNSS-supported Inertial Navigation System (INS).

It can provide outputs of 3D orientation data (Euler angles, rotation matrix, or quaternion), orientation and velocity increments (∆q and ∆v), position and velocity, and calibrated sensor data (acceleration, angular rate, magnetic field).

The MTi-1 series module includes a 3D accelerometer, a 3D gyroscope, a magnetometer, a high-precision oscillator, and a low-power consumption MCU.


The MTi-1 module is an IMU that provides calibrated 3D angular rate, 3D acceleration, and 3D magnetic field outputs. Its advantages over sensor configurations consisting solely of gyroscopes and accelerometers include integrated magnetic field data, built-in signal processing, easy synchronization, and communication protocols. Additionally, temperature testing and calibration conducted by Movella ensure the provision of a robust and reliable sensor module that can be integrated quickly.


It calculates 3D orientation data relative to a gravity-referenced frame using its algorithm: drift-free roll and pitch, and unreferenced yaw. Additionally, it provides outputs of calibrated sensor data: 3D acceleration, 3D angular rate, and 3D magnetic field data.

The output data of all modules in the MTi-1 series is generated by a strap-down integration algorithm (orientation and velocity increments – ∆q and ∆v). The 3D acceleration also includes a free acceleration component where the local gravity is subtracted. Deviation in the reference-free direction can be constrained using the #ActiveHeadingStabilization feature.


Supports all of the MTi-3, MTi-1, and MTi-2 features, moreover, it is exactly an AHRS enhanced with the magnetometer data. In addition to roll and pitch, it provides true magnetic north-referenced yaw and calibrated sensor data: 3D acceleration, 3D angular rate, 3D orientation, velocity increments (∆q and ∆v), and 3D magnetic field data. The free acceleration is also computed by the MTi-3 AHRS module.


The MTi-7 provides a GNSS/INS solution that offers position and velocity output in addition to orientation data. It utilizes advanced sensor fusion algorithms developed by Movella to synchronize inputs from the module’s built-in accelerometer, gyroscope, and magnetometer with data from an external GNSS receiver or barometer. Raw sensor signals are merged and processed at a high data rate of 800 Hz to generate real-time streams of the device’s 3D position, velocity, and orientation (roll, pitch, and yaw).


The MTi-8 is an enhanced version of the MTi-7 designed for use with high-precision GNSS receivers. GNSS receivers can achieve global positioning accuracy at the centimeter level using Real-Time Kinematic (RTK) functionality. The MTi-8 incorporates more advanced sensor fusion algorithms and signal processing pipelines that allow it to process these data without accuracy or precision loss. Additionally, the MTi-8 accounts for timing errors and the distance between the GNSS antenna and the MTi itself.

Features of the MTi-1 Series

Below, you can find the performance and sensor component specifications of the calibrated MTi-1-s modules. Each module undergoes the Movella calibration process individually. The calibration procedure includes bias offset for sensors, alignment of sensors to the module PCB and to each other, and calibration for parameters such as gain (scale factor). All calibration values are temperature-dependent and are calibrated for temperature. These calibration values are stored in the module’s non-volatile memory.